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MAKING MODERN LIVING POSSIBLE

MAKING MODERN LIVING POSSIBLE Programming Guide VLT ® DeviceNet MCA 104 VLT ® Frequency Converter Series

Programming Guide VLT ® DeviceNet MCA 104

VLT ® Frequency Converter Series • FC 102 • FC 202 • FC 301/302

® DeviceNet MCA 104 VLT ® Frequency Converter Series • FC 102 • FC 202 •
® DeviceNet MCA 104 VLT ® Frequency Converter Series • FC 102 • FC 202 •
Contents Programming Guide Contents 1 Introduction   3   1.1 Purpose of the Manual 3

Contents

Programming Guide

Contents

1 Introduction

 

3

 

1.1 Purpose of the Manual

3

1.2 Additional Resources

3

1.3 Document and Software Version

3

1.4 Product Overview

3

1.5 Approvals and Certi cations

4

1.6 Symbols, Abbreviations and Conventions

4

2 Safety

 

5

 

2.1 Safety Symbols

5

2.2 Quali ed Personnel

5

2.3 Safety Precautions

5

3 Configuration

7

 

3.1 Con gure the DeviceNet Network

7

3.2 Con gure the Master

8

3.3 Con gure the Frequency Converter

8

4 Control

 

9

 

4.1 DeviceNet Process Control Modes

9

4.2 I/O Assembly Instances

10

4.3 Process Data

10

4.4 ODVA Control Pro le

11

4.5 FC Control Pro le

13

5 Parameter Access

17

 

5.1 Explicit Messages

17

5.2 Object Classes

17

5.3 DeviceNet Object Classes

18

5.4 Danfoss Object Classes

27

6 Parameters

 

28

 

6.1 Parameter Description

28

6.2 Parameter List

36

6.3 Data Types Supported

37

7 Application Examples

38

 

7.1

Example: Working with Instance 101/151 Process

38

8 Troubleshooting

40

 

8.1 LED Status

40

8.2 No Communication with the Frequency Converter

41

Contents VLT ® DeviceNet MCA 104   8.3 Frequency Converter Does Not Respond to Control

Contents

VLT ® DeviceNet MCA 104

 

8.3 Frequency Converter Does Not Respond to Control Signals

41

8.4 Warnings and Alarms

44

Index

46

Introduction Programming Guide 1 Introduction 1.1 Purpose of the Manual The VLT ® DeviceNet MCA

Introduction

Programming Guide

1 Introduction

1.1 Purpose of the Manual

The VLT ® DeviceNet MCA 104 Programming Guide provides information about con guring the system, controlling the frequency converter, parameter access, programming, troubleshooting, and some typical application examples. The programming guide is intended for use by quali ed personnel who are familiar with the VLT ® frequency converter, with DeviceNet technology, and with the PC or PLC that is used as a master in the system. Read the instructions before programming and follow the procedures in this manual.

VLT ® is a registered trademark.

1.2 Additional Resources

Resources available for the VLT ® frequency converter and optional equipment:

The VLT ® Operating Instructions provide the necessary information for getting the VLT ® frequency converter up and running.

The VLT ® Design Guide provides detailed information about capabilities and functionality to design motor control systems.

The VLT ® Programming Guide provides greater detail on working with parameters and many application examples.

The VLT ® DeviceNet MCA 104 Installation Guide provides information about installing the DeviceNet and troubleshooting.

The VLT ® DeviceNet MCA 104 Programming Guide provides information about con guring the system, controlling the VLT ® frequency converter, parameter access, programming, troubleshooting, and some typical application examples.

Supplementary publications and manuals are available from Danfoss. See vlt-drives.danfoss.com/Support/Technical- Documentation/ for listings.

1.3 Document and Software Version

This manual is regularly reviewed and updated. All suggestions for improvement are welcome. Table 1.1 shows the document version and the corresponding software version.

Edition

Remarks

Software version

MG92F1xx

First edition.

4.4x

Table 1.1 Document and Software Version

1.4 Product Overview

1 1
1
1

This programming guide relates to the DeviceNet interface. Ordering number:

130B1102 (non-coated version).

130B1210 (conformal coated version).

DeviceNet is a low-level network that standardizes communications between industrial devices (sensors, limit switches, motor controls) and high-level devices (controllers). DeviceNet follows the Open Systems Intercon- nection (OSI) model and is based on CAN technology for media access control and physical signaling. DeviceNet systems can be con gured to operate in a master/slave or a distributed control architecture using peer-to-peer communication. Up to 63 nodes in a multi- drop network topology are supported. By using the same cable for communication, communication options can be powered directly from the bus. Nodes can be removed or inserted without powering down the network. Each node on the network has its own unique media access control identi er (MAC ID) to distinguish it on the network. The access control is based on the CSMA/CA (carrier sense multiple access/collision avoidance) principle, meaning that all nodes may have access to the network at the same time. When 2 nodes attempt to get control of the network bus simultaneously, the CAN protocol resolves the issue by arbitration. In this way, collisions on the network are avoided. DeviceNet de nes device pro les for devices belonging to speci c classes. For other devices, de ne a custom class to make it DeviceNet compatible. All the above enhances the interchangeability and interoperability of the network.

24 V Power supply Trunk line R T R T 1 1 1 1 Drop
24 V
Power supply
Trunk line
R T
R T
1
1
1
1
Drop lines 1
RT=Termination resistors
195NA228.10

Illustration 1.1 Topology

Introduction VLT ® DeviceNet MCA 104 1 1 VLT ® DeviceNet MCA 104 is designed

Introduction

VLT ® DeviceNet MCA 104

1

1
1

VLT ® DeviceNet MCA 104 is designed to communicate with any master abiding by the DeviceNet standard. It is intended for use with:

VLT ® HVAC Drive FC 102

VLT ® AQUA Drive FC 202

VLT ® AutomationDrive FC 301/FC 302

1.5 Approvals and Certi cations

FC 301/FC 302 1.5 Approvals and Certi cations More approvals and certi cations are available. For

More approvals and certi cations are available. For more information, contact a local Danfoss partner.

1.6 Symbols, Abbreviations and Conventions

Abbreviation

Definition

SINT

Signed integer

STW

Status word

VSD

Variable speed drive

UDINT

Unsigned double integer

UNIT

Unsigned integer

USINT

Unsigned short integer

Table 1.2 Symbols and Abbreviations

Conventions Numbered lists indicate procedures. Bullet lists indicate other information.

Italicized text indicates:

Cross reference.

Link.

Parameter name.

Parameter group name.

Parameter option.

Abbreviation

Definition

Footnote.

ACK

ACKnowledge

BOC

Bus o counter

BOOL

Boolean expression

CAN

Controller area network

CSMA/CA

Carrier sense multiple access/collision avoidance

COS

Change of state

CTW

Control word

EDS

Electronic data sheet

EMC

Electromagnetic compatibility

ETR

Electronic thermal relay

FIFO

First in rst out

HF

High frequency

HPFB

High performance eldbus

I/O

Input/output

ISO

International standards organization

LCD

Liquid crystal display

LED

Light emitting diode

LSB

Least signi cant bit

MAC ID

Media access control identi er

MAV

Main actual value

MRV

Main reference value

MSB

Most signi cant bit

N/A

Not applicable

ODVA

Open DeviceNet Vendor Association

OSI

Open systems interconnection

PC

Personal computer

PCD

Process data

PIW

Peripheral input word

PLC

Programmable logic control

PNU

Parameter number

PPO

Parameter-process data object

QW

Peripheral output word

Safety Programming Guide 2 Safety 2.1 Safety Symbols The following symbols are used in this

Safety

Programming Guide

2 Safety

2.1 Safety Symbols

The following symbols are used in this manual:

WARNING

WARNING

Indicates a potentially hazardous situation that could result in death or serious injury.

CAUTIONsituation that could result in death or serious injury. Indicates a potentially hazardous situation that could

Indicates a potentially hazardous situation that could result in minor or moderate injury. It can also be used to alert against unsafe practices.

NOTICE
NOTICE

Indicates important information, including situations that can result in damage to equipment or property.

2.2 Quali ed Personnel

Correct and reliable transport, storage, installation, operation, and maintenance are required for the trouble- free and safe operation of the frequency converter. Only quali ed personnel are allowed to install and operate this equipment.

Quali ed personnel are de ned as trained sta , who are authorized to install, commission, and maintain equipment, systems, and circuits in accordance with pertinent laws and regulations. Additionally, the quali ed personnel must be familiar with the instructions and safety measures described in these operating instructions.

2.3 Safety Precautions

in these operating instructions. 2.3 Safety Precautions WARNING HIGH VOLTAGE Frequency converters contain high
WARNING HIGH VOLTAGE
WARNING
HIGH VOLTAGE

Frequency converters contain high voltage when connected to AC mains input, DC supply, or load sharing. Failure to perform installation, start-up, and maintenance by qualified personnel can result in death or serious injury.

Only qualified personnel must perform instal- lation, start-up, and maintenance.

WARNING

WARNING

2
2

2

UNINTENDED START

When the frequency converter is connected to AC mains, DC supply, or load sharing, the motor may start at any time. Unintended start during programming, service, or repair work can result in death, serious injury, or property damage. The motor can start with an external switch, a fieldbus command, an input reference signal from the LCP or LOP, via remote operation using MCT 10 Set-up Software, or after a cleared fault condition.

To prevent unintended motor start:

Press [Off/Reset] on the LCP before programming parameters.

Disconnect the frequency converter from the mains.

Completely wire and assemble the frequency converter, motor, and any driven equipment before connecting the frequency converter to AC mains, DC supply, or load sharing.

WARNINGfrequency converter to AC mains, DC supply, or load sharing. DISCHARGE TIME The frequency converter contains

DISCHARGE TIME

The frequency converter contains DC-link capacitors that can remain charged even when the frequency converter is not powered. Failure to wait the specified time after power has been removed before performing service or repair work can result in death or serious injury.

Stop the motor.

Disconnect the AC mains and remote DC-link supplies, including battery back-ups, UPS, and DC-link connections to other frequency converters.

Disconnect or lock the PM motor.

Wait for the capacitors to discharge fully before performing any service or repair work. The waiting time is specified in the relevant frequency converter operating instructions, Chapter 2 Safety.

WARNING

WARNING

LEAKAGE CURRENT HAZARD

Leakage currents exceed 3.5 mA. Failure to ground the frequency converter properly can result in death or serious injury.

Ensure the correct grounding of the equipment by a certified electrical installer.

Safety VLT ® DeviceNet MCA 104 2 2 WARNING EQUIPMENT HAZARD Contact with rotating shafts

Safety

VLT ® DeviceNet MCA 104

2 2
2
2

WARNINGSafety VLT ® DeviceNet MCA 104 2 2 EQUIPMENT HAZARD Contact with rotating shafts and electrical

EQUIPMENT HAZARD

Contact with rotating shafts and electrical equipment can result in death or serious injury.

Ensure that only trained and qualified personnel perform installation, start-up, and maintenance.

Ensure that electrical work conforms to national and local electrical codes.

Follow the procedures in this guide.

CAUTIONcodes. • Follow the procedures in this guide. INTERNAL FAILURE HAZARD An internal failure in the

INTERNAL FAILURE HAZARD

An internal failure in the frequency converter can result in serious injury when the frequency converter is not properly closed.

Ensure that all safety covers are in place and securely fastened before applying power.

Configuration Programming Guide 3 Con guration 3.1 Con gure the DeviceNet Network All DeviceNet stations

Configuration

Programming Guide

3 Con guration

3.1 Con gure the DeviceNet Network

All DeviceNet stations that are connected to the same bus network must have a unique station address. Select the DeviceNet address of the frequency converter via:

Address switches (default 63).

Parameter 10-02 MAC ID (default 63).

• Class code 0X03, instance 1, attribute 1.
• Class code 0X03, instance 1, attribute 1.

Illustration 3.1 VLT ® DeviceNet MCA 104 Interface

3.1.1 Setting the DeviceNet Address using the Address Switches

NOTICE
NOTICE

Switch off the power supply before changing the address switches. The address change comes into effect at the next power-up, and can be read in parameter 10-02 MAC ID.

Set the address switches to give the option a unique ID. Select an address range
Set the address switches to give the option a unique ID.
Select an address range from 0–63 (factory setting 63)
according to Table 3.1.
Switch
8
7
6
5
4
3
2
1
Address value
+32
+16
+8
+4
+2
+1
5
OFF
OFF
OFF
ON
OFF
ON
20
OFF
ON
OFF
ON
OFF
OFF
35
ON
OFF
OFF
OFF
ON
ON

Table 3.1 Settings for the Address Switches

3.1.2 Setting the DeviceNet Address via Parameter 10-02 MAC ID

Set the address via parameter 10-02 MAC ID if the hardware switches are set to 63 (factory setting). The address change comes into e ect at the next power-up.

3
3

3

3.1.3 Setting the DeviceNet Address with the Object Class Code 0x03, Instance 1, Attribute 1

Set the address via the DeviceNet object class code 0x03 attribute 1 command when the address switch is set to 63 (factory setting). A new address becomes e ective immediately after the class code 0x03, instance 1, attribute 1 command.

3.1.4 Setting the Baud Rate

All DeviceNet stations connected to the same bus network must have the same baud rate. Select the baud rate of the frequency converter via:

Address switches.

Parameter 10-01 Baud Rate Select (default 125 kBd).

Object class code 0x03, instance 1, attribute 2.

3.1.5 Setting the DeviceNet Baud Rate using the Address Switches

NOTICE
NOTICE

Switch off the power supply before changing the address switches. The baud rate change comes into effect at the next power-up, and can be read in parameter 10-01 Baud Rate Select.

Use the address switches to select a baud rate of 125 k baud (factory setting), 250 k baud, or 500 k baud, see Table 3.2:

Baud rate switch

8

7

Parameter 10-01 Baud Rate Select

1

1

125

kBd

0

0

250

kBd

0

1

500

kBd

1

0

Table 3.2 Address Switches

Configuration VLT ® DeviceNet MCA 104 3.1.6 Setting the DeviceNet Baud Rate via Parameter 10-01

Configuration

VLT ® DeviceNet MCA 104

3.1.6 Setting the DeviceNet Baud Rate via Parameter 10-01 Baud Rate Select

3 3
3
3

Set the baud rate via parameter 10-01 Baud Rate Select if the address switches 1 and 2 are set to ON (factory setting). The baud rate change comes into e ect at the next power-up.

3.1.7 Setting the DeviceNet Baud Rate with

the Object Class Code 0x03, Attribute

2

Set the baud rate via the DeviceNet object class code 0x03 attribute 2 command, when the address switches 1 and 2 are set to ON (factory setting). A new baud rate becomes

e ective immediately after the class code 0x03 attribute 2 command.

3.2

Con gure the Master

3.2.1

EDS File

A

large part area of the system con guration is the setting

of

application-related parameters. EDS (Electronic Data

Sheet) les simplify the setting up of most of the DeviceNet con gurable parameters. For o -line con gu- ration, Danfoss provides a generic English EDS le covering all voltage and power sizes. Download the EDS le from www.danfoss.com/drives.

NOTICE
NOTICE

The EDS file does not contain all parameters. It contains only a selected, limited number of parameters with generic minimum, maximum, and default values.

3.3 Con gure the Frequency Converter

3.3.1 Frequency Converter Parameters

Note the following parameters when con guring the frequency converter with a DeviceNet interface. Refer to chapter 6 Parameters for more details of each parameter.

Parameter 0-40 [Hand on] Key on LCP. If the Hand key on the frequency converter is activated, control of the frequency converter via the DeviceNet interface is disabled. After initial power-up the frequency converter automatically detects whether a eldbus option is installed in slot A, and sets parameter 8-02 Control Word Source to [3] Option A. If an option is added to, changed in, or removed from an already commis- sioned frequency converter, it does not change parameter 8-02 Control Word Source but enters trip mode, and the frequency converter shows an error.

Parameter 8-10 Control Word Profile (see chapter 4 Control). Select between the Danfoss FC Pro le and the ODVA pro le. Select the desired DeviceNet instance in parameter 10-10 Process Data Type Selection.

Parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select (see chapter 6 Parameters). Selection of how to gate the DeviceNet control commands with digital input command of the control card.

NOTICE
NOTICE

When parameter 8-01 Control Site is set to [2] Control word only, the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select is overruled, and all act on bus control.

Parameter 8-03 Control Word Timeout Time to parameter 8-05 End-of-Timeout Function. The reaction in the event of a bus timeout is set via these parameters.

Parameter 10-10 Process Data Type Selection. Default is 125 kbps.

Parameter 10-02 MAC ID. Default is 63.

Control Programming Guide 4 Control 4.1 DeviceNet Process Control Modes This section describes 2 of

Control

Programming Guide

4 Control

4.1 DeviceNet Process Control Modes

This section describes 2 of 3 possible process control modes:

Polling.

Change of state (COS).

The 3rd FC control mode uses the acyclic mode explicit messaging via the standard DeviceNet control supervisory object class 29H. The control supervisory object is described in chapter 5.3 DeviceNet Object Classes.

4.1.2 Change of State, COS

4.1.1 Polling

Table 4.1 is a classic master/slave connection and the standard DeviceNet operating mode. The master controls the data exchange by sending cyclic poll-requests to the connected slave, and the slave answers by sending a poll- response to the master. The master can control and monitor the frequency converter by polling the DeviceNet or Danfoss objects (I/O instances).

4
4

4

Master

Slave

Slave

Master

CTW MRV STW MAV
CTW
MRV
STW
MAV

Table 4.1 Standard DeviceNet Operation Mode - Polled I/O

COS is an event-controlled operating mode used to minimize network traffic. Messages are transmitted only if a de ned state or value has changed. The condition for triggering a COS message is determined by the insertion of COS- lters (parameter 10-20 COS Filter 1 to parameter 10-23 COS Filter 4), for each bit in the di erent PCD words. The lter acts like a logical AND function: If a bit in the lter is set to 1, the COS function triggers after a change to the corresponding bit for the PCD word.

after a change to the corresponding bit for the PCD word. Illustration 4.1 Different PCDs and

Illustration 4.1 Different PCDs and the Corresponding Filter Parameters

Parameter 10-20 COS Filter 1 to parameter 10-23 COS Filter 4 can be used to lter out undesired events for COS. If a lter bit is set to 0, the corresponding I/O instance bit is unable to produce a COS message. By default, all bits in the COS lters are set to 0.

To signal that the connection has not been interrupted, or the device is not powered o , a heartbeat message is transmitted within a speci ed time interval (heartbeat interval). This interval is de ned in attribute heartbeat time of the connection object, class code 0x05.

To prevent the device from producing heavy network traffic if a value changes frequently, the production inhibit time (an attribute of the connection object) is de ned. This parameter de nes the minimum time between 2 COS messages.

Control VLT ® DeviceNet MCA 104 The attribute expected package rate de nes the maximum

Control

VLT ® DeviceNet MCA 104

The attribute expected package rate de nes the maximum time between 2 COS messages even when the value is unchanged. In the event of COS connection, the explicit package rate is identical with the heartbeat interval mentioned above. This timer is used both as transmission trigger and inactivity watchdog, depending on whether the connection is producer or consumer.

4.2 I/O Assembly Instances

4 4
4
4

I/O assembly instances are several de ned process control objects with de ned content comprising control and status information. Illustration 4.2 shows the I/O assembly instance options for controlling and monitoring the frequency converter.

for controlling and monitoring the frequency converter. Illustration 4.2 I/O Assembly Instance Options 4.3 Process

Illustration 4.2 I/O Assembly Instance Options

4.3 Process Data

Process data comprises the control and status data in the I/O assembly instances.

The CTW, MRV, STW, and MAV have de ned formats and functions, depending on the I/O instance selected. PCD 3 and PCD 4 are freely con gurable, for instance 101/151 via parameter 10-11 Process Data Config Write and parameter 10-12 Process Data Config Read. All PCDs are freely con gurable for instance 102/152.

DeviceNet provides a flexible way to customize the number of process data (I/O words) and the functionality of each word. To activate the user de nable process data, select the I/O instance 101/151 in parameter 10-10 Process Data Type Selection. This changes the I/O size to 4 words in the input and output area. This selection uses the Danfoss -speci c pro le for the control word and status word as well as for the main reference value/main actual value.

The rst 2 words are xed on the DeviceNet, whereas PCD 3 and PCD 4 are user con gurable. The number of PCDs active in a system is xed to 2 words.

NOTICE
NOTICE

To select [1] Instance 101/151 in parameter 10-10 Process Data Type Selection, set parameter 8-10 Control Word Pro le to [0] FC pro le.

To enable use of PCD data from the DeviceNet, con gure the contents of each single PCD word in parameter 10-11 Process Data Config Write and parameter 10-12 Process Data Config Read. Changes to parameter 10-11 Process Data Config Write and parameter 10-12 Process Data Config Read are e ected immediately in the PCD data.

Control Programming Guide Instance Originator (PLC) --> Target (Drive) Instance Target (Drive) --> Originator
Control Programming Guide Instance Originator (PLC) --> Target (Drive) Instance Target (Drive) --> Originator
Control
Programming Guide
Instance
Originator (PLC) --> Target (Drive)
Instance
Target (Drive) --> Originator (PLC)
20
CTW
REF
70
STW
MAV
21
CTW
REF
71
STW
MAV
100
CTW
REF
150
STW
MAV
4
PCD 2
PCD 3
PCD 2
PCD 3
101
CTW
REF
151
STW
MAV
write
write
read
read
Byte #
1
2
3
4
5
6
7
8
Byte #
1
2
3
4
5
6
7
8
Word #
1
2
3
4
Word #
1
2
3
4
Fixed contents
User de ned contents
130BE709.10

Illustration 4.3 Process Data

4.4 ODVA Control Pro le

4.4.1 Control Word under Instances 20/70 and 21/71

Set parameter 8-10 Control Word Profile to ODVA and select the instance in parameter 10-10 Process Data Type Selection.

instance in parameter 10-10 Process Data Type Selection . Explanation of the bits: Bit 0, Run

Explanation of the bits:

Bit 0, Run Fwd Bit 0 = 0: The frequency converter has a stop command. Bit 0 = 1: Leads to a start command, and the frequency converter runs the motor clockwise.

Bit 1, Run Rev Bit 1 = 0: Leads to a stop of the motor. Bit 1 = 1: Leads to a start reverse of the motor, and the frequency converter runs the motor counterclockwise.

Bit 2, Fault Reset Bit 2 = 0: There is no reset of a trip. Bit 2 = 1: A trip is reset.

4

Illustration 4.4 The Control Word in Instances 20 and 21

NOTICE
NOTICE

Bit 3, No function Bit 3: No function.

Bit 4, No function Bit 4: No function.

The bits 00 and 02 in instance 20 are identical with bits 00 and 02 in the more extensive instance 21.

Bit

Instance 20

Instance 21

Bit = 0

Bit = 1

Bit = 0

Bit = 1

00

Stop

Run Fwd

Stop

Run Fwd

01

Stop

Run Rev

02

No function

Fault reset

No function

Fault reset

03

04

05

Net Ctrl

06

Net Ref

07–15

Table 4.2 Bits in Instances 20 and 21

Bit 5, Net Control Bit 5 = 0: The frequency converter is controlled via the standard inputs. Bit 5 = 1: The DeviceNet controls the frequency converter.

NOTICE
NOTICE

Changes affect parameter 8-50 Coasting Select to

parameter 8-56 Preset Reference Select.

Bit 6, Net Reference

Bit 6 = 0: Reference is from the standard inputs.

Bit 6 = 1: Reference is from DeviceNet.

Control VLT ® DeviceNet MCA 104 NOTICE Changes affect parameter 3-15 Reference Resource 1 to

Control

VLT ® DeviceNet MCA 104

NOTICE
NOTICE

Changes affect parameter 3-15 Reference Resource 1 to parameter 3-17 Reference Resource 3.

For the speed reference, see chapter 4.4.3 Bus Speed Reference Value under Instances 20/70 and 21/71.

4 4
4
4

4.4.2 Status Word under Instances 20/70 and 21/71

. 4 4 4.4.2 Status Word under Instances 20/70 and 21/71 Illustration 4.5 Status Word in

Illustration 4.5 Status Word in Instances 70 and 71

NOTICE
NOTICE

The bits 00 and 02 in instance 70 are identical with bits 00 and 02 in the more extensive instance 71.

Bit

Instance 70

Instance 71

Bit = 0

Bit = 1

Bit = 0

Bit = 1

00

Fault

– Fault

 

01

 

– Warning

02

Running 1

 

– Running 1

Fwd

Fwd

03

 

– Running 2

Rev.

04

– Ready

 

05

 

– Control

from Net

06

 

– Reference

from Net

07

– At

reference

08–15

State attribute

Table 4.3 Bits in Instances 70 and 71

Explanation of the bits:

Bit 0, Fault Bit 0 = 0: There is no fault in the frequency converter. Bit 0 = 1: There is a fault in the frequency converter.

Bit 1, Warning Bit 0 = 0: There is no unusual situation. Bit 0 = 1: An abnormal condition has arisen.

Bit 2, Running 1 Bit 2 = 0: The frequency converter is not in the running forward state, or run 1 is not set. Bit 2 = 1: The frequency converter state attribute is enabled or stopping, or that fault-stop and bit 0 (run 1) of the control word are set at the same time.

Bit 3, Running 2 Bit 3 = 0: The frequency converter is not in the running reverse state, or run 2 is not set. Bit 3 = 1: The frequency converter state attribute is enabled or stopping, or fault-stop and bit 0 (run 2) of the control word are set at the same time.

Bit 4, Ready Bit 4 = 0: The state attribute is in another state. Bit 4 = 1: The state attribute is ready, enabled, or stopping.

Bit 5, Control from net Bit 5 = 0: The frequency converter is controlled from the standard inputs. Bit 5 = 1: The DeviceNet has control (start, stop, reverse) of the frequency converter.

Bit 6, Ref from net Bit 6 = 0: The reference comes from inputs to the frequency converter. Bit 6 = 1: The reference comes from the DeviceNet.

Bit 7, At reference Bit 7 = 0: The motor is running, but the present speed is di erent from the preset speed reference, for example, the speed is being ramped up/down during start/stop. Bit 7 = 1: The frequency converter and reference speeds are equal.

Bit 8–15, State attribute

(Instance 71 only)

Represents the state attribute of the frequency converter, as indicated in Table 4.4.

Bit number

Meaning

8

(Vendor speci c)

9

Start up

10

Not ready

11

Ready

12

Enabled

13

Stopping

14

Fault stop

15

Faulted

Table 4.4 State Attribute (Instance 71)

For more details of the actual output speed, see chapter 4.4.4 Actual Output Speed under Instances 20/70 and

21/71.

4.4.3 Bus Speed Reference Value under Instances 20/70 and 21/71

The speed reference value is transmitted to the frequency converter as a 16-bit word. The value is transmitted as a whole number. Negative gures are formatted by 2’s complement.

Control Programming Guide 4.5 FC Control Pro le 4.5.1 Control Word under Instances 100/150, 101/151,
Control Programming Guide 4.5 FC Control Pro le 4.5.1 Control Word under Instances 100/150, 101/151,
Control
Programming Guide
4.5 FC Control Pro le
4.5.1 Control Word under Instances
100/150, 101/151, and 102/152

Illustration 4.6 Speed Reference Value

The bus speed reference has the following format:

Parameter 3-00 Reference Range = 0 [refMIN to refMAX] 0 (0000 hex) [RPM] to + 32767 (7FFF hex) [RPM] Parameter 3-00 Reference Range = 1 [-refMAX to +refMAX] -32767 (8001 hex ) to +32767 [RPM] (7FFF hex)

The actual reference [Ref. %] in the frequency converter depends on the settings in the following parameters:

Parameter 1-23 Motor Frequency Parameter 1-25 Motor Nominal Speed Parameter 3-03 Maximum Reference

NOTICE
NOTICE

When the bus speed reference is negative, and the control word contains a run reverse signal, the frequency converter runs clockwise (- - is +).

Example:

Parameter 1-25 Motor Nominal Speed = 1420 RPM Parameter 1-23 Motor Frequency = 50 Hz Parameter 3-03 Maximum Reference = 1420 RPM

To run the motor at 25%, the reference transmitted must be: (1420x0.25) = 355 = 16.3 hex 163 hex 25% Fout = 12.5 Hz

4.4.4 Actual Output Speed under Instances 20/70 and 21/71

Hz 4.4.4 Actual Output Speed under Instances 20/70 and 21/71 Illustration 4.7 Actual Output Speed Value

Illustration 4.7 Actual Output Speed Value

The value of the actual speed of the motor, is transmitted in the form of a 16-bit word.

The value is transmitted as a whole number (negative gures are formed with 2's complement).

-32767 (8000 hex) [RPM] to +32767 [RPM] (7FFF hex) [RPM]

To select FC protocol in the control word, set parameter 8-10 Control Word Profile to [0] FC profile. The control word is used to send commands from a master (PLC or PC) to a slave (frequency converter).

from a master (PLC or PC) to a slave (frequency converter). 4 4 Illustration 4.8 Control
4
4

4

Illustration 4.8 Control Words in Instances 100, 101, and 102

Bit

Bit value = 0

Bit value = 1

00

Reference value

External selection lsb

01

Reference value

External selection msb

02

DC brake

Ramp

03

Coasting

No coasting

04

Quick stop

Ramp

05

Hold output frequency

Use ramp

06

Ramp stop

Start

07

No function

Reset

08

No function

Jog

09

Ramp 1

Ramp 2

10

Data invalid

Data valid

11

No function

Relay 01 active

12

No function

Relay 04 active

13

Parameter set-up

Selection lsb

14

Parameter set-up

Selection msb

15

No function

Reverse

Table 4.5 Bits in Instances 100, 101, and 102

Explanation of the control bits:

Bits 00/01 Bits 00 and 01: Select between the 4 reference values, which are pre-programmed in parameter 3-10 Preset Reference according to Table 4.6.

Programmed

Parameter

Bit 01

Bit 00

reference

value

1

3-10 [0]

0

0

2

3-10 [1]

0

1

3

3-10 [2]

1

0

4

3-10 [3]

1

1

Table 4.6 Reference Values

Control VLT ® DeviceNet MCA 104 NOTICE In parameter 8-56 Preset Reference Select , a

Control

VLT ® DeviceNet MCA 104

NOTICE
NOTICE

In parameter 8-56 Preset Reference Select, a selection is made to define how bit 00/01 gates with the corresponding function on the digital inputs.

4 4
4
4

Bit 02, DC brake Bit 02 = 0: Leads to DC braking and stop. Braking current and duration are set in parameter 2-01 DC Brake Current and parameter 2-02 DC Braking Time. Bit 02 = 1: Leads to ramping.

Bit 03, Coasting Bit 03 = 0: Causes the frequency converter to immediately release the motor (the output transistors are disabled), and coasts to a standstill. Bit 03 = 1: Enables the frequency converter to start the motor if the other starting conditions are ful lled.

NOTICE
NOTICE

In parameter 8-50 Coasting Select, a selection is made to define how bit 03 gates with the corresponding function on a digital input.

Bit 04, Quick stop Bit 04 = 0: Causes a stop, in which the motor speed is ramped down to stop via parameter 3-81 Quick Stop Ramp Time.

Bit 05, Hold output frequency Bit 05 = 0: Causes the present output frequency (in Hz) to freeze. The frozen output frequency can then be changed only with the digital inputs (parameter 5-10 Terminal 18 Digital Input to parameter 5-15 Terminal 33 Digital Input) programmed to speed up and speed down.

NOTICE
NOTICE

If hold output is active, only the following can stop the frequency converter:

Bit 03 coasting stop.

Bit 02 DC braking.

Digital input (parameter 5-10 Terminal 18 Digital Input to parameter 5-15 Terminal 33 Digital Input) programmed to DC braking, coasting stop, or reset and coasting stop.

Bit 06, Ramp stop/start Bit 06 = 0: Causes a stop, in which the motor speed is ramped down to stop via the selected ramp down parameter. Bit 06 = 1: Allows the frequency converter to start the motor, if the other starting conditions are ful lled.

NOTICE
NOTICE

In parameter 8-53 Start Select, a selection is made to define how bit 06 ramp stop/start gates with the corresponding function on a digital input.

Bit 07, Reset Bit 07 = 0: Does not cause a reset. Bit 07 = 1: Resets a trip. Reset is activated on the leading edge of the signal, that is, when changing from logic 0 to logic 1.

Bit 08, Jog Bit 08 = 1: The frequency converter ramps up/ramps down according to the setting in parameter 3-19 Jog Speed [RPM].

Bit 09, Selection of ramp 1/2 Bit 09 = 0: Ramp 1 is active (parameter 3-40 Ramp 1 Type to parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start). Bit 09 = 1: Ramp 2 is active (parameter 3-50 Ramp 2 Type to parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start).

Bit 10, Data not valid/Data valid Tells the frequency converter whether to use or to ignore the control word. Bit 10 = 0: Ignores the control word. Bit 10 = 1: Uses the control word to be used. This function is relevant, because the control word is always contained in the telegram, regardless of the type of telegram. It is possible to turn o the control word if you do not wish to use it with updating or reading parameters.

Bit 11, Relay 01 Bit 11 = 0: Relay not activated. Bit 11 = 1: Relay 01 activated, provided [36] control word bit 11 is selected in parameter 5-40 Function Relay.

Bit 12, Relay 04 Bit 12 = 0: Relay 04 is not activated. Bit 12 = 1: Relay 04 is activated, provided [37] control word bit 12 is selected in parameter 5-40 Function Relay.

Bit 13/14, Selection of set-up Bits 13 and 14 are used to select from the 4 menu set-ups according to Table 4.7.

Set-up

Bit 14

Bit 13

 

1 0

0

2 0

 

1

3 1

 

0

4 1

 

1

Table 4.7 Menu Set-up

The function is only possible when [9] Multi Set-up is selected in parameter 0-10 Active Set-up.

NOTICE
NOTICE

In parameter 8-55 Set-up Select, a selection is made to define how bits 13/14 gate with the corresponding function on the digital inputs.

Bit 15 Reverse Bit 15 = 0: No reversing. Bit 15 = 1: Reversing.

Control Programming Guide 4.5.2 Status Word under Instances 100/150, 101/151, and 102/152 Illustration 4.9 Status

Control

Programming Guide

4.5.2 Status Word under Instances 100/150, 101/151, and 102/152

Status Word under Instances 100/150, 101/151, and 102/152 Illustration 4.9 Status Words in Instances 150/151/152 Bit

Illustration 4.9 Status Words in Instances 150/151/152

Bit

Bit = 0

Bit = 1

00

Control not ready

Control ready

01

Drive not ready

Drive ready

02

Coasting

Enable

03

No error

Trip

04

No error

Error (no trip)

05

Reserved

06

No error

Trip lock

07

No warning

Warning

08

Speed reference

Speed = reference

09

Local operation

Bus control

10

Out of frequency limit

Frequency limit ok

11

No operation

In operation

12

Drive ok

Stopped, auto start

13

Voltage ok

Voltage exceeded

14

Torque ok

Torque exceeded

15

Timer ok

Timer exceeded

Table 4.8 Status Bits

Explanation of the status bits:

Bit 00, Control not ready/ready Bit 00 = 0: The frequency converter has tripped. Bit 00 = 1: The frequency converter controls are ready, but the power component is not necessarily receiving any power supply (if there is 24 V external supply to controls).

Bit 01, Drive ready Bit 01 = 1: The frequency converter is ready for operation.

Bit 02, Coasting stop Bit 02 = 0: The frequency converter has released the motor. Bit 02 = 1: The frequency converter can start the motor when a start command is given.

Bit 03, No error/trip Bit 03 = 0: The frequency converter is not in fault mode. Bit 03 = 1: The frequency converter is tripped, and a reset signal is required to re-establish operation.

Bit 04, No error/error (no trip) Bit 04 = 0: The frequency converter is not in fault mode. Bit 04 = 1: There is a frequency converter error but no trip.

Bit 05, Not used Bit 05: Not used in the status word.

Bit 06, No error/trip lock Bit 06 = 0: The frequency converter is not in fault mode. Bit 06 = 1: The frequency converter is tripped and locked.

Bit 07, No warning/warning Bit 07 = 0: There are no warnings. Bit 07 = 1: A warning has occurred.

Bit 08, Speed reference/speed = reference Bit 08 = 0: The motor is running, but the present speed is di erent from the preset speed reference. For example, it could be the case while the speed is being ramped up/ down during start/stop. Bit 08 = 1: The present motor speed matches the preset speed reference.

Bit 09, Local operation/bus control Bit 09 = 0: [STOP/RESET] is activated on the control unit, or [2] Local in parameter 3-13 Reference Site is selected. It is not possible to control the frequency converter via serial communication. Bit 09 = 1: It is possible to control the frequency converter via the eldbus/serial communication.

Bit 10, Out of frequency limit Bit 10 = 0: The output frequency has reached the value in parameter 4-52 Warning Speed Low or parameter 4-53 Warning Speed High. Bit 10 = 1: The output frequency is within the de ned limits.

Bit 11, No operation/in operation Bit 11 = 0: The motor does not run. Bit 11 = 1: The frequency converter has a start signal, or the output frequency is greater than 0 Hz.

Bit 12, Drive OK/stopped, auto start Bit 12 = 0: There is no temporary overtemperature on the inverter. Bit 12 = 1: The inverter has stopped because of overtem- perature, but the unit has not tripped and resumes operation once the overtemperature stops.

Bit 13, Voltage OK/limit exceeded Bit 13 = 0: There are no voltage warnings. Bit 13 = 1: The DC voltage in the frequency converters DC link is too low or too high.

Bit 14, Torque OK/limit exceeded Bit 14 = 0: The motor current is lower than the torque limit selected in parameter 4-16 Torque Limit Motor Mode or parameter 4-17 Torque Limit Generator Mode. Bit 14 = 1: The torque limits in parameter 4-16 Torque Limit Motor Mode and parameter 4-17 Torque Limit Generator Mode are exceeded.

Bit 15, Timer OK/limit exceeded Bit 15 = 0: The timers for motor thermal protection and frequency converter thermal protection, respectively, have not exceeded 100%. Bit 15 = 1: One of the timers has exceeded 100%.

4
4

4

Control VLT ® DeviceNet MCA 104 4.5.3 Bus Reference Value under Instances 100/150 and 101/151

Control

VLT ® DeviceNet MCA 104

4.5.3 Bus Reference Value under Instances 100/150 and 101/151

4 4
4
4

The frequency reference value is transmitted to the frequency converter in the form of a 16-bit word. The value is transmitted as a whole number (-32767 to +32767). Negative gures are formatted by 2’s complement.

Master slave

16

bit

CTW

Speed reference RPM

Table 4.9 Speed Reference Value

The bus reference has the following format:

100% = 4000 hex Parameter 3-00 Reference Range = 0 [refMIN refMAX] 0 16384 (4000 hex) ~ 0 100% Parameter 3-00 Reference Range = 1 [- refMAX + refMAX] -16384 (C000 hex) +16384 (4000 hex) ~ -100% +100%

4.5.4 Actual Output Frequency under Instances 100/150 and 101/151

The value of the actual output frequency of the frequency converter is transmitted in the form of a 16-bit word. The value is transmitted as a whole number (-32767 to +32767). Negative gures are formed by 2’s complement.

Slave master

16

bit

STW

Actual reference RPM

Table 4.10 Actual Output Frequency

The actual output frequency has the following format:

-32767 to +32767. -16384 (C000 hex) corresponds to -100%, and 16384 (4000 hex) corresponds to 100%.

Parameter Access Programming Guide 5 Parameter Access 5.1 Explicit Messages DeviceNet is based on the

Parameter Access

Programming Guide

5 Parameter Access

5.1 Explicit Messages

DeviceNet is based on the CAN protocol. Every message contains an 11 bit CAN identi er eld to de ne the connection ID. These CAN identi ers are also used to determine access priority.

The MAC ID is stored in the header of the message, which is split into
The MAC ID is stored in the header of the message, which is split into 4 di erent message groups, see Table 5.1.
10
9
8
7
6
5
4
3
2
1
0
Identi er bits
Message group 1
Message group 2
Message group 3
Message group 4
Invalid CAN identi ers
5
0
Group 1 ID
1
0
MAC ID
Source MAC ID
Group 2 ID
1
1
Group 3 ID
Source MAC ID
1
1
1
1
1
Group 4 ID
1
1
1
1
1
1
1
X
X
X
X

Table 5.1 MAC ID

5

It is possible to access frequency converter parameters via the standard DeviceNet service explicit message. Two classes of explicit messages are supported:

Message group 2: Explicit messages take place via pre-de ned master/slave connections. Message group 3: Explicit messages take place via dynamically established lower prioritized connections.

5.2 Object Classes

Access is available to the following standard DeviceNet objects.

Class ID 01h

Identity object

Class ID 10h

Parameter group object

Class ID 03h

DeviceNet object

Class ID 28h

Motor data object

Class ID 04h

Assembly object

Class ID 29h

Control supervisory object

Class ID 05h

Connection object

Class ID 2Ah

AC/DC drive object

Class ID 0Fh

Parameter object

Class ID 2Bh

Acknowledge handler object

Table 5.2 Standard DeviceNet Objects

The following DeviceNet vendor-speci c objects are also available:

Class ID 100d to 119d Danfoss classes. The object classes are described in chapter 5.3 DeviceNet Object Classes and chapter 5.4 Danfoss Object Classes.

Parameter Access VLT ® DeviceNet MCA 104 5.3 DeviceNet Object Classes 5.3.1 Class ID 01h

Parameter Access

VLT ® DeviceNet MCA 104

5.3

DeviceNet Object Classes

5.3.1

Class ID 01h Identity Object

Class ID 01h identity object is a standard DeviceNet object for identi cation of the device (frequency converter). Set the heartbeat interval in this object. The attributes supported for this class are listed in Table 5.3.

5 5
5
5

Attribute

Access

Name

Data type

Minimum/

Units

Default

Description

Maximum

1

Get

Vendor

USINT

97

Danfoss Drives Vendor code.

2

Get

Device Type

UNIT

2

AD/DC Motor.

3

Get

Product Code

UNIT

100

See chapter 3.2.1 EDS File.

4

Get

Revision

UNIT

Software version on FC 102, FC 202, or FC 300.

5

Get

Status

UNIT

 

6

Get

Serial Number

UDINT

From frequency

converter.

7

Get

Product Name

String

FC 100, FC 202, or FC

 

300.

10

Get/Set

Heartbeat

USINT

0–255

s

0

O

.

Interval

 

Table 5.3 Class ID 0x01

5.3.2 Class ID 03h DeviceNet Object

Class ID 03h DeviceNet object is a standard DeviceNet object for con guration and status of the DeviceNet connection. The attributes supported for this class are listed in Table 5.4.

Attribute

Access

Name

Data type

Minimum/

Units

Default

Description

Maximum

1

Get/Set

MAC ID

USINT

0–63

63

Node address.

2

Get/Set

Baud rate

USINT

0–2

0

0=125

1=250

2=500

4

Get

BOC

Bus-o counter.

5

Get

Allocate

Only required if prede ned master/slave is implemented.

information

6

Get

MAC ID switch changed

BOOL

0–1

0

The node address switch has changed since the last power-up/reset.

7

Get

Baud rate

BOOL

0–1

0

The baud rate switch has changed since the last power-up.

switched from

last power-up

Table 5.4 Class ID 0x03

Parameter Access Programming Guide 5.3.3 Class ID 04h Assembly Object Class ID 04h assembly object

Parameter Access

Programming Guide

5.3.3 Class ID 04h Assembly Object

Class ID 04h assembly object is a standard DeviceNet object for transfer of the I/O instances (process data) described in chapter 4 Control. Using class ID 04h assembly object to send or read any of the de ned instances, either by polling or explicit messaging. The attributes supported for this class are listed in Table 5.5.

Attribute

Access

Name

Data type

Minimum/

Units

Default

Description

 

Maximum

3

Set

Data

ARRAY

Table 5.5 Class ID 0x04

 
5
5
 

Instance

Access

Size

Description

Parameter 10-10 selection

5

20

Set

2

words

DeviceNet AC/DC pro le

 

Instance 20/70

21

Set

2

words

DeviceNet AC/DC pro le

 

Instance 21/71

 

70

Get

2

words

DeviceNet AC/DC pro le

 

Instance 20/70

71

Get

2

words

DeviceNet AC/DC pro le

 

Instance 21/71

100

Set

2

words

Danfoss speci c, no PCD words

 

Instance 100/150

101

Set

4

words

Danfoss speci c, 2 PCD words

 

Instance 101/151

150

Get

2

words

Danfoss speci c, no PCD words

 

Instance 100/150

151

Get

4

words

Danfoss speci c, 2 PCD words

 

Instance 101/151

Table 5.6 Instances

Parameter Access VLT ® DeviceNet MCA 104 5.3.4 Class ID 05h Connection Object Class ID

Parameter Access

VLT ® DeviceNet MCA 104

5.3.4 Class ID 05h Connection Object

Class ID 05h connection object is a standard DeviceNet object for allocation and managing I/O and explicit messaging connections. For this class, 3 instances are supported:

Explicit messages.

Polled I/O.

Change of state.

The attributes supported for the di erent instances are listed in Table 5.7, Table 5.8, and Table 5.9.

5 5
5
5

Attribute

Access

Name

Data type

Description

1

Get

State

USINT

State of the object.

2

Get

Instance type

USINT

Indicates either I/O or explicit message.

3

Get

Transport class

USINT

De nes behavior of the connection.

trigger

4

Get

Produced

UINT

CAN identi er eld when the connection transmits.

connection ID

5

Get

Consumed

UINT

CAN identi er eld value that denotes message to be received.

connection ID

6

Get

Initial

USINT

De nes the message group/groups across which productions and consumptions associated with this connection occur.

communication

characteristics

 

7

Get

Produced

UINT

Maximum number of bytes transmitted across this connection.

connection size

8

Get

Consumed

UINT

Maximum number of bytes received across this connection.

connection size

9

Get/Set

Expected

UINT

De nes value used in transmission trigger timer and inactivity/ watchdog timer.

package rate

12

Get

Watchdog

USINT

De nes how to handle inactivity/watchdog timeout.

timeout action

13

Get

Produced

UINT

Number of bytes in the produced connection path attribute.

connection path

length

14

Get

Produced

Array of USINT

Speci es the application object/objects whose data is to be produced by these connection objects.

connection path

15

Get

Consumed

UINT

Number of bytes in the consumed connection path attribute.

connection path

length

16

Get

Consumed

Array of USINT

Speci es the application object/objects that are to receive the data consumed by this connection object.

connection path

17

Get

Production

UINT

De nes minimum time between new data production. This attribute is required for I/O client connection.

inhibit time

Table 5.7 Instance 1 Attributes: Explicit Message Instance

Parameter Access   Programming Guide Attribute Access Name Data type Description 1 Get

Parameter Access

 

Programming Guide

Attribute

Access

Name

Data type

Description

1

Get

State

USINT

State of the object.

2

Get

Instance type

USINT

Indicates either I/O or explicit message.

3

Get

Transport class

USINT

De nes behavior of the connection.

trigger

4

Get

Produced

UINT

CAN identi er eld when the connection transmits.

connection ID

5

Get

Consumed

UINT

CAN identi er eld value that denotes message to be received.

connection ID

6

Get

Initial

USINT

De nes the message group/groups across which productions and consumptions associated with this connection occur.

communication

characteristics

 

7

Get

Produced

UINT

Maximum number of bytes transmitted across this connection.

connection size

8

Get

Consumed

UINT

Maximum number of bytes received across this connection.

connection size

9

Get/Set

Expected

UINT

De nes value used in transmission trigger timer and inactivity/ watchdog timer.

package rate

12

Get

Watchdog

USINT

De nes how to handle inactivity/watchdog timeout.

timeout action

13

Get

Produced

UINT

Number of bytes in the produced connection path attribute.

connection path

length

14

Get

Produced

Array of USINT

Speci es the application object/objects whose data is to be produced by these connection objects.

connection path

15

Get

Consumed

UINT

Number of bytes in the consumed connection path attribute.

connection path

length

16

Get

Consumed

Array of USINT

Speci es the application object/objects that are to receive the data consumed by this connection object.

connection path

17

Get

Production

UINT

De nes minimum time between new data production. This attribute is required for I/O client connection.

inhibit time

Table 5.8 Instance 2 Attributes: Polled I/O

5
5

5

Parameter Access VLT ® DeviceNet MCA 104 5 5 Attribute Access Name Data type Description

Parameter Access